From eddcff4e487f952ff2683ff7af38737b0cc5dff6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 Jan 2021 12:38:54 +1100
Subject: [PATCH] AP_Arming: move rudder-arming throttle checks up into
 AP_Arming

---
 libraries/AP_Arming/AP_Arming.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index e02b77855f4..0dfad873b36 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -1714,6 +1714,14 @@ bool AP_Arming::arm_checks(AP_Arming::Method method)
             //parameter disallows rudder arming/disabling
             return false;
         }
+
+        // only permit arming if the vehicle isn't being commanded to
+        // move via RC input
+        const auto c = rc().get_throttle_channel();
+        if (c.get_control_in() != 0) {
+            check_failed(true, "Non-zero throttle");
+            return false;
+        }
     }
 
     if (check_enabled(Check::RC)) {